Changes between Version 44 and Version 45 of MiddleWareConnection


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Timestamp:
10/28/12 23:36:07 (7 years ago)
Author:
welberge
Comment:

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  • MiddleWareConnection

    v44 v45  
    22 
    33= Hooking up !AsapRealizer to your desired middleware framework = 
    4 Communication to and from !AsapRealizer is set up using the RealizerPort interface, a lightweight Java interface through which [http://www.mindmakers.org/projects/bml-1-0/wiki/Wiki BML] and [http://www.mindmakers.org/projects/bml-1-0/wiki/Wiki#Feedback BML feedback] is communicated as Java Strings. 
     4Communication to and from !AsapRealizer is set up using the RealizerPort interface, a lightweight Java interface through which [http://www.mindmakers.org/projects/bml-1-0/wiki/Wiki BML] and [http://www.mindmakers.org/projects/bml-1-0/wiki/Wiki#Feedback BML feedback] is communicated as Java Strings. Middleware can connect to the RealizerPort interface using adapters. 
    55 
    66== Using an existing middleware adapter == 
     
    2525}}} 
    2626 
    27 == Hooking up !AsapRealizer to a new middleware framework == 
     27== Hooking up !AsapRealizer by creating a new middleware adapter == 
    2828In this example I will show how to connect !AsapRealizer to a Behavior Planner using messages over the [https://code.cor-lab.de/projects/rsb Robotic Service Bus]. To this end, two rsb adapters will be created. The RsbToBMLRealizerAdapter translates Rsb BML messages into BML commands for the BMLRealizerPort and submits feedback from the BMLRealizerPort over rsb. The BMLRealizerToRsbAdapter acts as an RealizerPort. It passes BML commands to the rsb and translates BML feedback from rsb into feedback for listeners registered to it. 
    2929[[Image(rsbadapters.png)]]